Multi-target tracking method and a multi-target tracking devices

摘要

PROBLEM TO BE SOLVED: To track multiple targets in three-dimensional space while suppressing generation of spurious image by repeating calculation of three-dimensional track for each target based on the distance, variation rate and angular track of a target being determined as an identical target. ;SOLUTION: Search data outputted from angle sensors 2, 3 are fed, respectively, to information processors 4, 5 where angular track and error covariance matrix are calculated for each target by angle tracking units 11a, 11b and delivered to an information integrating unit 6. The information integrating unit 6 determines a pair of angular tracks for an identical target and performs correlation processing. The pair of angular tracks for an identical target is delivered to a distance/variation rate of distance calculator 13 in order to calculate a unit vector in the target direction, the target distance and the variation rate. Subsequently, the target distance, the variation rate thereof and the angular track are combined by three-dimensional track calculators 14,a 14b to determine a track in a three-dimensional orthogonal coordinates which is presented on track displays 7, 8. The series of processing is repeated for each target until the end of tracking thus realizing a multiple target three-dimensional tracking.;COPYRIGHT: (C)1998,JPO